<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.12"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Os1: g2o::VertexSim3Expmap Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
   </div>
   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.12 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,'Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('classg2o_1_1_vertex_sim3_expmap.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classg2o_1_1_vertex_sim3_expmap-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">g2o::VertexSim3Expmap Class Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="structg2o_1_1_sim3.html">Sim3</a> Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion.  
 <a href="classg2o_1_1_vertex_sim3_expmap.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="types__seven__dof__expmap_8h_source.html">types_seven_dof_expmap.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for g2o::VertexSim3Expmap:</div>
<div class="dyncontent">
<div class="center"><iframe scrolling="no" frameborder="0" src="classg2o_1_1_vertex_sim3_expmap__inherit__graph.svg" width="210" height="380"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for g2o::VertexSim3Expmap:</div>
<div class="dyncontent">
<div class="center"><iframe scrolling="no" frameborder="0" src="classg2o_1_1_vertex_sim3_expmap__coll__graph.svg" width="1670" height="247"><p><b>This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.</b></p></iframe></div>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a23848134729d617ed1b4adb0ec12d246"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a23848134729d617ed1b4adb0ec12d246">cam_map1</a> (const Vector2d &amp;v) const</td></tr>
<tr class="separator:a23848134729d617ed1b4adb0ec12d246"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1fea182077bd192c547d6b59c874e1e"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#aa1fea182077bd192c547d6b59c874e1e">cam_map2</a> (const Vector2d &amp;v) const</td></tr>
<tr class="separator:aa1fea182077bd192c547d6b59c874e1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abef7e4d10825caa129984f69251508c2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#abef7e4d10825caa129984f69251508c2">oplusImpl</a> (const double *update_)</td></tr>
<tr class="memdesc:abef7e4d10825caa129984f69251508c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">update the position of the node from the parameters in v.  <a href="#abef7e4d10825caa129984f69251508c2">More...</a><br /></td></tr>
<tr class="separator:abef7e4d10825caa129984f69251508c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16b4ef216ad1c4709a6fc6aa452d8e61"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a16b4ef216ad1c4709a6fc6aa452d8e61">read</a> (std::istream &amp;is)</td></tr>
<tr class="memdesc:a16b4ef216ad1c4709a6fc6aa452d8e61"><td class="mdescLeft">&#160;</td><td class="mdescRight">read the vertex from a stream, i.e., the internal state of the vertex  <a href="#a16b4ef216ad1c4709a6fc6aa452d8e61">More...</a><br /></td></tr>
<tr class="separator:a16b4ef216ad1c4709a6fc6aa452d8e61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab076d5964ab55f95251a75bcf341ce05"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#ab076d5964ab55f95251a75bcf341ce05">setToOriginImpl</a> ()</td></tr>
<tr class="memdesc:ab076d5964ab55f95251a75bcf341ce05"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the node to the origin (used in the multilevel stuff)  <a href="#ab076d5964ab55f95251a75bcf341ce05">More...</a><br /></td></tr>
<tr class="separator:ab076d5964ab55f95251a75bcf341ce05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1f5a851bf896518998d8186723af365"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#ac1f5a851bf896518998d8186723af365">VertexSim3Expmap</a> ()</td></tr>
<tr class="separator:ac1f5a851bf896518998d8186723af365"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5725f98a0d40f4cdb5d352a45c79fc7"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#ab5725f98a0d40f4cdb5d352a45c79fc7">write</a> (std::ostream &amp;os) const</td></tr>
<tr class="memdesc:ab5725f98a0d40f4cdb5d352a45c79fc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">write the vertex to a stream  <a href="#ab5725f98a0d40f4cdb5d352a45c79fc7">More...</a><br /></td></tr>
<tr class="separator:ab5725f98a0d40f4cdb5d352a45c79fc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_base_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_base_vertex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_base_vertex.html">g2o::BaseVertex&lt; 7, Sim3 &gt;</a></td></tr>
<tr class="memitem:a43bcf2bb3420a0b2cb80bfd297b464a6 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">HessianBlockType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a43bcf2bb3420a0b2cb80bfd297b464a6">A</a> ()</td></tr>
<tr class="memdesc:a43bcf2bb3420a0b2cb80bfd297b464a6 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the hessian block associated with the vertex  <a href="classg2o_1_1_base_vertex.html#a43bcf2bb3420a0b2cb80bfd297b464a6">More...</a><br /></td></tr>
<tr class="separator:a43bcf2bb3420a0b2cb80bfd297b464a6 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3efca26127cda4f9b77a06352f1267bb inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">HessianBlockType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a3efca26127cda4f9b77a06352f1267bb">A</a> () const</td></tr>
<tr class="separator:a3efca26127cda4f9b77a06352f1267bb inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a837ef1047343d927edb48ad8d510fe90 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">b</a> (int i) const</td></tr>
<tr class="memdesc:a837ef1047343d927edb48ad8d510fe90 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the b vector element  <a href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">More...</a><br /></td></tr>
<tr class="separator:a837ef1047343d927edb48ad8d510fe90 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c235369ef3fb58de65b90c8cc37d611 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">b</a> (int i)</td></tr>
<tr class="separator:a5c235369ef3fb58de65b90c8cc37d611 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7a70ede844ad023ba32edde16c8c745 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">Matrix&lt; double, D, 1 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#af7a70ede844ad023ba32edde16c8c745">b</a> ()</td></tr>
<tr class="memdesc:af7a70ede844ad023ba32edde16c8c745 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">return right hand side b of the constructed linear system  <a href="classg2o_1_1_base_vertex.html#af7a70ede844ad023ba32edde16c8c745">More...</a><br /></td></tr>
<tr class="separator:af7a70ede844ad023ba32edde16c8c745 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b0bf63c79b2b36186680b2a73ec70bf inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">const Matrix&lt; double, D, 1 &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a6b0bf63c79b2b36186680b2a73ec70bf">b</a> () const</td></tr>
<tr class="separator:a6b0bf63c79b2b36186680b2a73ec70bf inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40fcd78e21bb4aedf7e299922c650937 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a40fcd78e21bb4aedf7e299922c650937">BaseVertex</a> ()</td></tr>
<tr class="separator:a40fcd78e21bb4aedf7e299922c650937 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8edea7073e5850c90b0ba37092b8f84 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">bData</a> ()</td></tr>
<tr class="memdesc:ac8edea7073e5850c90b0ba37092b8f84 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">return a pointer to the b vector associated with this vertex  <a href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">More...</a><br /></td></tr>
<tr class="separator:ac8edea7073e5850c90b0ba37092b8f84 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a144f99c7aa36a100dea65b30793e6d76 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">clearQuadraticForm</a> ()</td></tr>
<tr class="memdesc:a144f99c7aa36a100dea65b30793e6d76 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the b vector part of this vertex to zero  <a href="classg2o_1_1_base_vertex.html#a144f99c7aa36a100dea65b30793e6d76">More...</a><br /></td></tr>
<tr class="separator:a144f99c7aa36a100dea65b30793e6d76 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3629d3b15da425476e15867fb03b781b inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">copyB</a> (double *b_) const</td></tr>
<tr class="memdesc:a3629d3b15da425476e15867fb03b781b inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">copies the b vector in the array b_  <a href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">More...</a><br /></td></tr>
<tr class="separator:a3629d3b15da425476e15867fb03b781b inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71729c4d91044bde9bfea4c859b0c02d inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">discardTop</a> ()</td></tr>
<tr class="memdesc:a71729c4d91044bde9bfea4c859b0c02d inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">pop the last element from the stack, without restoring the current estimate  <a href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">More...</a><br /></td></tr>
<tr class="separator:a71729c4d91044bde9bfea4c859b0c02d inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afea20bbcf50eb2a7d9d598b3eae49172 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a> () const</td></tr>
<tr class="memdesc:afea20bbcf50eb2a7d9d598b3eae49172 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the current estimate of the vertex  <a href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">More...</a><br /></td></tr>
<tr class="separator:afea20bbcf50eb2a7d9d598b3eae49172 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac35e0c8c62a59e947ac7710ed85fcd7a inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">hessian</a> (int i, int j) const</td></tr>
<tr class="memdesc:ac35e0c8c62a59e947ac7710ed85fcd7a inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the element from the hessian matrix  <a href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">More...</a><br /></td></tr>
<tr class="separator:ac35e0c8c62a59e947ac7710ed85fcd7a inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ab2212fdb00dec460299fdbabe09cb9 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">hessian</a> (int i, int j)</td></tr>
<tr class="separator:a6ab2212fdb00dec460299fdbabe09cb9 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aedf92fbb5c2c86185422a955be02a3a6 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">hessianData</a> ()</td></tr>
<tr class="separator:aedf92fbb5c2c86185422a955be02a3a6 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1217e0fe47e7259f039d468397cddb15 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">hessianDeterminant</a> () const</td></tr>
<tr class="separator:a1217e0fe47e7259f039d468397cddb15 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54227ac315e6bc75c63ed117a2c75668 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">mapHessianMemory</a> (double *d)</td></tr>
<tr class="memdesc:a54227ac315e6bc75c63ed117a2c75668 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">maps the internal matrix to some external memory location  <a href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">More...</a><br /></td></tr>
<tr class="separator:a54227ac315e6bc75c63ed117a2c75668 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a502bf3db2ee32061a2c8257ef81a1552 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">pop</a> ()</td></tr>
<tr class="memdesc:a502bf3db2ee32061a2c8257ef81a1552 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">restore the position of the vertex by retrieving the position from the stack  <a href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">More...</a><br /></td></tr>
<tr class="separator:a502bf3db2ee32061a2c8257ef81a1552 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6edf93fe07aa27579a9352faa83098c inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">push</a> ()</td></tr>
<tr class="memdesc:ae6edf93fe07aa27579a9352faa83098c inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">backup the position of the vertex to a stack  <a href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">More...</a><br /></td></tr>
<tr class="separator:ae6edf93fe07aa27579a9352faa83098c inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb6e8e8f39caa04f62dd93a3dd400e06 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">setEstimate</a> (const <a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a> &amp;et)</td></tr>
<tr class="memdesc:acb6e8e8f39caa04f62dd93a3dd400e06 inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the estimate for the vertex also calls <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab5972c8ba6834c4dcb8a2319e9bf3070">updateCache()</a>  <a href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">More...</a><br /></td></tr>
<tr class="separator:acb6e8e8f39caa04f62dd93a3dd400e06 inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0bbd9551b7e03f7e422169e396e8ec9b inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">solveDirect</a> (double lambda=0)</td></tr>
<tr class="memdesc:a0bbd9551b7e03f7e422169e396e8ec9b inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">updates the current vertex with the direct solution x += H_ii  <a href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">More...</a><br /></td></tr>
<tr class="separator:a0bbd9551b7e03f7e422169e396e8ec9b inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d82f4b9669dd123ac7d38c7f4345d8c inherit pub_methods_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">stackSize</a> () const</td></tr>
<tr class="memdesc:a7d82f4b9669dd123ac7d38c7f4345d8c inherit pub_methods_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the stack size  <a href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">More...</a><br /></td></tr>
<tr class="separator:a7d82f4b9669dd123ac7d38c7f4345d8c inherit pub_methods_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></td></tr>
<tr class="memitem:a8f7ac810cad82a004365c1221fd16234 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8f7ac810cad82a004365c1221fd16234">addUserData</a> (<a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *obs)</td></tr>
<tr class="separator:a8f7ac810cad82a004365c1221fd16234 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab381120a2c00fc8ae90e5c298dfbb967 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_cache_container.html">CacheContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab381120a2c00fc8ae90e5c298dfbb967">cacheContainer</a> ()</td></tr>
<tr class="separator:ab381120a2c00fc8ae90e5c298dfbb967 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32e33f86c169e234a0dde54d1309e5e3 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">Vertex</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a32e33f86c169e234a0dde54d1309e5e3">clone</a> () const</td></tr>
<tr class="memdesc:a32e33f86c169e234a0dde54d1309e5e3 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns a deep copy of the current vertex  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a32e33f86c169e234a0dde54d1309e5e3">More...</a><br /></td></tr>
<tr class="separator:a32e33f86c169e234a0dde54d1309e5e3 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d22b2e6832ae2ec040bfc0acb4cabb9 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4d22b2e6832ae2ec040bfc0acb4cabb9">colInHessian</a> () const</td></tr>
<tr class="memdesc:a4d22b2e6832ae2ec040bfc0acb4cabb9 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the row of this vertex in the Hessian  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4d22b2e6832ae2ec040bfc0acb4cabb9">More...</a><br /></td></tr>
<tr class="separator:a4d22b2e6832ae2ec040bfc0acb4cabb9 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86feed80301950b100142575b48e4fca inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a86feed80301950b100142575b48e4fca">dimension</a> () const</td></tr>
<tr class="memdesc:a86feed80301950b100142575b48e4fca inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">dimension of the estimated state belonging to this node  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a86feed80301950b100142575b48e4fca">More...</a><br /></td></tr>
<tr class="separator:a86feed80301950b100142575b48e4fca inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9d94367931458af6ca3d5589801b1e6 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae9d94367931458af6ca3d5589801b1e6">estimateDimension</a> () const</td></tr>
<tr class="memdesc:ae9d94367931458af6ca3d5589801b1e6 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae9d94367931458af6ca3d5589801b1e6">More...</a><br /></td></tr>
<tr class="separator:ae9d94367931458af6ca3d5589801b1e6 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97294e6a1a573a44fe82ba36fc52c619 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">fixed</a> () const</td></tr>
<tr class="memdesc:a97294e6a1a573a44fe82ba36fc52c619 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node is fixed during the optimization  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">More...</a><br /></td></tr>
<tr class="separator:a97294e6a1a573a44fe82ba36fc52c619 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f22181a161d724e95631d5da742b66a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8f22181a161d724e95631d5da742b66a">G2O_ATTRIBUTE_DEPRECATED</a> (tempIndex() const)</td></tr>
<tr class="separator:a8f22181a161d724e95631d5da742b66a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abdcd545b6870b37135b055d18dae7a36 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#abdcd545b6870b37135b055d18dae7a36">G2O_ATTRIBUTE_DEPRECATED</a> (setTempIndex(int ti))</td></tr>
<tr class="separator:abdcd545b6870b37135b055d18dae7a36 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7303e52b5e41a0b5ee8751cce4095a57 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a7303e52b5e41a0b5ee8751cce4095a57">getEstimateData</a> (double *estimate) const</td></tr>
<tr class="memdesc:a7303e52b5e41a0b5ee8751cce4095a57 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a7303e52b5e41a0b5ee8751cce4095a57">More...</a><br /></td></tr>
<tr class="separator:a7303e52b5e41a0b5ee8751cce4095a57 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc3b27eab95474c09ad52e6931f1d635 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acc3b27eab95474c09ad52e6931f1d635">getEstimateData</a> (std::vector&lt; double &gt; &amp;estimate) const</td></tr>
<tr class="memdesc:acc3b27eab95474c09ad52e6931f1d635 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acc3b27eab95474c09ad52e6931f1d635">More...</a><br /></td></tr>
<tr class="separator:acc3b27eab95474c09ad52e6931f1d635 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9cae6014e4bc7df2565638ad0699958 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac9cae6014e4bc7df2565638ad0699958">getMinimalEstimateData</a> (double *estimate) const</td></tr>
<tr class="memdesc:ac9cae6014e4bc7df2565638ad0699958 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimate to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac9cae6014e4bc7df2565638ad0699958">More...</a><br /></td></tr>
<tr class="separator:ac9cae6014e4bc7df2565638ad0699958 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af928d21e7304cb21d75acf56bc40470a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af928d21e7304cb21d75acf56bc40470a">getMinimalEstimateData</a> (std::vector&lt; double &gt; &amp;estimate) const</td></tr>
<tr class="memdesc:af928d21e7304cb21d75acf56bc40470a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimate to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af928d21e7304cb21d75acf56bc40470a">More...</a><br /></td></tr>
<tr class="separator:af928d21e7304cb21d75acf56bc40470a inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cf4be7e2442444d9d43a80cc8388b1e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a8cf4be7e2442444d9d43a80cc8388b1e">graph</a> () const</td></tr>
<tr class="separator:a8cf4be7e2442444d9d43a80cc8388b1e inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f845c6f0ba9a87ab15caaddba5a4037 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a3f845c6f0ba9a87ab15caaddba5a4037">graph</a> ()</td></tr>
<tr class="separator:a3f845c6f0ba9a87ab15caaddba5a4037 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05a371cfa6314d0f2d209289b01cc922 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a05a371cfa6314d0f2d209289b01cc922">hessianIndex</a> () const</td></tr>
<tr class="memdesc:a05a371cfa6314d0f2d209289b01cc922 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">temporary index of this node in the parameter vector obtained from linearization  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a05a371cfa6314d0f2d209289b01cc922">More...</a><br /></td></tr>
<tr class="separator:a05a371cfa6314d0f2d209289b01cc922 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb3dbe08fd20ca8feeeaecc63ce240c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a2eb3dbe08fd20ca8feeeaecc63ce240c">lockQuadraticForm</a> ()</td></tr>
<tr class="memdesc:a2eb3dbe08fd20ca8feeeaecc63ce240c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a2eb3dbe08fd20ca8feeeaecc63ce240c">More...</a><br /></td></tr>
<tr class="separator:a2eb3dbe08fd20ca8feeeaecc63ce240c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a216d79149edcfa9f666140205159fde8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a216d79149edcfa9f666140205159fde8">marginalized</a> () const</td></tr>
<tr class="memdesc:a216d79149edcfa9f666140205159fde8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node is marginalized out during the optimization  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a216d79149edcfa9f666140205159fde8">More...</a><br /></td></tr>
<tr class="separator:a216d79149edcfa9f666140205159fde8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae14027b23254032d30319eeb7f487ca5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae14027b23254032d30319eeb7f487ca5">minimalEstimateDimension</a> () const</td></tr>
<tr class="memdesc:ae14027b23254032d30319eeb7f487ca5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ae14027b23254032d30319eeb7f487ca5">More...</a><br /></td></tr>
<tr class="separator:ae14027b23254032d30319eeb7f487ca5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4357b634cfd884cd2fa1abb05832ec8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af4357b634cfd884cd2fa1abb05832ec8">oplus</a> (const double *v)</td></tr>
<tr class="memdesc:af4357b634cfd884cd2fa1abb05832ec8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the position of the node from the parameters in v.  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af4357b634cfd884cd2fa1abb05832ec8">More...</a><br /></td></tr>
<tr class="separator:af4357b634cfd884cd2fa1abb05832ec8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa605891d46b99ed97accf659f10bc8d5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aa605891d46b99ed97accf659f10bc8d5">setColInHessian</a> (int c)</td></tr>
<tr class="memdesc:aa605891d46b99ed97accf659f10bc8d5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the row of this vertex in the Hessian  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aa605891d46b99ed97accf659f10bc8d5">More...</a><br /></td></tr>
<tr class="separator:aa605891d46b99ed97accf659f10bc8d5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acebbe12160c0df7c859a349781badc30 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acebbe12160c0df7c859a349781badc30">setEstimateData</a> (const double *estimate)</td></tr>
<tr class="memdesc:acebbe12160c0df7c859a349781badc30 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a>  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#acebbe12160c0df7c859a349781badc30">More...</a><br /></td></tr>
<tr class="separator:acebbe12160c0df7c859a349781badc30 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cf16cd3b2e99169cdd6dfc139f926bc inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1cf16cd3b2e99169cdd6dfc139f926bc">setEstimateData</a> (const std::vector&lt; double &gt; &amp;estimate)</td></tr>
<tr class="memdesc:a1cf16cd3b2e99169cdd6dfc139f926bc inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double Implement <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487" title="writes the estimater to an array of double ">setEstimateDataImpl()</a>  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1cf16cd3b2e99169cdd6dfc139f926bc">More...</a><br /></td></tr>
<tr class="separator:a1cf16cd3b2e99169cdd6dfc139f926bc inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af92ef49e1bcd6a8166afa151d367b905 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af92ef49e1bcd6a8166afa151d367b905">setFixed</a> (bool <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a97294e6a1a573a44fe82ba36fc52c619">fixed</a>)</td></tr>
<tr class="memdesc:af92ef49e1bcd6a8166afa151d367b905 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node should be considered fixed during the optimization  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af92ef49e1bcd6a8166afa151d367b905">More...</a><br /></td></tr>
<tr class="separator:af92ef49e1bcd6a8166afa151d367b905 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a440f24c0108be5247f3529369aa1e53c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a440f24c0108be5247f3529369aa1e53c">setHessianIndex</a> (int ti)</td></tr>
<tr class="memdesc:a440f24c0108be5247f3529369aa1e53c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the temporary index of the vertex in the parameter blocks  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a440f24c0108be5247f3529369aa1e53c">More...</a><br /></td></tr>
<tr class="separator:a440f24c0108be5247f3529369aa1e53c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac57651173d6ce4bb4eebf8cb1d917551 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac57651173d6ce4bb4eebf8cb1d917551">setId</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a>)</td></tr>
<tr class="memdesc:ac57651173d6ce4bb4eebf8cb1d917551 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the id of the node in the graph be sure that the graph keeps consistent after changing the id  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac57651173d6ce4bb4eebf8cb1d917551">More...</a><br /></td></tr>
<tr class="separator:ac57651173d6ce4bb4eebf8cb1d917551 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afabf1782886c78bf7b312bb1f2c90524 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#afabf1782886c78bf7b312bb1f2c90524">setMarginalized</a> (bool <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a216d79149edcfa9f666140205159fde8">marginalized</a>)</td></tr>
<tr class="memdesc:afabf1782886c78bf7b312bb1f2c90524 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">true =&gt; this node should be marginalized out during the optimization  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#afabf1782886c78bf7b312bb1f2c90524">More...</a><br /></td></tr>
<tr class="separator:afabf1782886c78bf7b312bb1f2c90524 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57d42a1288d7377c593c91a8cf8a754c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a57d42a1288d7377c593c91a8cf8a754c">setMinimalEstimateData</a> (const double *estimate)</td></tr>
<tr class="memdesc:a57d42a1288d7377c593c91a8cf8a754c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double.  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a57d42a1288d7377c593c91a8cf8a754c">More...</a><br /></td></tr>
<tr class="separator:a57d42a1288d7377c593c91a8cf8a754c inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac41fda9360e81bf704681831b1df11f8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac41fda9360e81bf704681831b1df11f8">setMinimalEstimateData</a> (const std::vector&lt; double &gt; &amp;estimate)</td></tr>
<tr class="memdesc:ac41fda9360e81bf704681831b1df11f8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double.  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac41fda9360e81bf704681831b1df11f8">More...</a><br /></td></tr>
<tr class="separator:ac41fda9360e81bf704681831b1df11f8 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab10678592b5e707bf4abdc0ff6b8e4bf inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab10678592b5e707bf4abdc0ff6b8e4bf">setToOrigin</a> ()</td></tr>
<tr class="memdesc:ab10678592b5e707bf4abdc0ff6b8e4bf inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the node to the origin (used in the multilevel stuff)  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab10678592b5e707bf4abdc0ff6b8e4bf">More...</a><br /></td></tr>
<tr class="separator:ab10678592b5e707bf4abdc0ff6b8e4bf inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a858d15a4fadebfc8bce0162ac675f608 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a858d15a4fadebfc8bce0162ac675f608">setUserData</a> (<a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *obs)</td></tr>
<tr class="separator:a858d15a4fadebfc8bce0162ac675f608 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5badd602625433ee1ce8e2aa7bb3b2ac inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a5badd602625433ee1ce8e2aa7bb3b2ac">unlockQuadraticForm</a> ()</td></tr>
<tr class="memdesc:a5badd602625433ee1ce8e2aa7bb3b2ac inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">unlock the block of the hessian and the b vector associated with this vertex  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a5badd602625433ee1ce8e2aa7bb3b2ac">More...</a><br /></td></tr>
<tr class="separator:a5badd602625433ee1ce8e2aa7bb3b2ac inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5972c8ba6834c4dcb8a2319e9bf3070 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab5972c8ba6834c4dcb8a2319e9bf3070">updateCache</a> ()</td></tr>
<tr class="separator:ab5972c8ba6834c4dcb8a2319e9bf3070 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a506c9664e88d886ba612d3ea95b6c76b inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a506c9664e88d886ba612d3ea95b6c76b">userData</a> () const</td></tr>
<tr class="memdesc:a506c9664e88d886ba612d3ea95b6c76b inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">the user data associated with this vertex  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a506c9664e88d886ba612d3ea95b6c76b">More...</a><br /></td></tr>
<tr class="separator:a506c9664e88d886ba612d3ea95b6c76b inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a768057be134ffe93bc88b020d031eee5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a768057be134ffe93bc88b020d031eee5">userData</a> ()</td></tr>
<tr class="separator:a768057be134ffe93bc88b020d031eee5 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f5fd4210abfa0f8b8e7dd279f561986 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a1f5fd4210abfa0f8b8e7dd279f561986">Vertex</a> ()</td></tr>
<tr class="separator:a1f5fd4210abfa0f8b8e7dd279f561986 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2208bfef95bba9670f13933d68fb929 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ac2208bfef95bba9670f13933d68fb929">~Vertex</a> ()</td></tr>
<tr class="separator:ac2208bfef95bba9670f13933d68fb929 inherit pub_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_hyper_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></td></tr>
<tr class="memitem:a3794ff3310c1dc05619bf0b77eaa4caa inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">edges</a> () const</td></tr>
<tr class="memdesc:a3794ff3310c1dc05619bf0b77eaa4caa inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of hyper-edges that are leaving/entering in this vertex  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a3794ff3310c1dc05619bf0b77eaa4caa">More...</a><br /></td></tr>
<tr class="separator:a3794ff3310c1dc05619bf0b77eaa4caa inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35cbf4ea796797bb5d9c35a41454e8fb inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">edges</a> ()</td></tr>
<tr class="memdesc:a35cbf4ea796797bb5d9c35a41454e8fb inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the set of hyper-edges that are leaving/entering in this vertex  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a35cbf4ea796797bb5d9c35a41454e8fb">More...</a><br /></td></tr>
<tr class="separator:a35cbf4ea796797bb5d9c35a41454e8fb inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f214b9065b88a3aafff7442380476ab inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classg2o_1_1_hyper_graph.html#af603119d5d3475aed6e34ee9d701b69e">HyperGraphElementType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8f214b9065b88a3aafff7442380476ab">elementType</a> () const</td></tr>
<tr class="memdesc:a8f214b9065b88a3aafff7442380476ab inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the type of the graph element, see HyperGraphElementType  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8f214b9065b88a3aafff7442380476ab">More...</a><br /></td></tr>
<tr class="separator:a8f214b9065b88a3aafff7442380476ab inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48191960395856d1b686287489e53da3 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a> () const</td></tr>
<tr class="memdesc:a48191960395856d1b686287489e53da3 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the id  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">More...</a><br /></td></tr>
<tr class="separator:a48191960395856d1b686287489e53da3 inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f2e986815608e5ac4a44671ed9794ae inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a7f2e986815608e5ac4a44671ed9794ae">Vertex</a> (int <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a48191960395856d1b686287489e53da3">id</a>=-1)</td></tr>
<tr class="memdesc:a7f2e986815608e5ac4a44671ed9794ae inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">creates a vertex having an ID specified by the argument  <a href="classg2o_1_1_hyper_graph_1_1_vertex.html#a7f2e986815608e5ac4a44671ed9794ae">More...</a><br /></td></tr>
<tr class="separator:a7f2e986815608e5ac4a44671ed9794ae inherit pub_methods_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html">g2o::HyperGraph::HyperGraphElement</a></td></tr>
<tr class="memitem:ab02c385ff2bd544037e2bef795761b2e inherit pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_hyper_graph_1_1_hyper_graph_element.html#ab02c385ff2bd544037e2bef795761b2e">~HyperGraphElement</a> ()</td></tr>
<tr class="separator:ab02c385ff2bd544037e2bef795761b2e inherit pub_methods_structg2o_1_1_hyper_graph_1_1_hyper_graph_element"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a63854235b605e45825798d327890930e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a63854235b605e45825798d327890930e">_fix_scale</a></td></tr>
<tr class="separator:a63854235b605e45825798d327890930e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05a79614b17cc700acaeb86039c2e181"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a05a79614b17cc700acaeb86039c2e181">_focal_length1</a></td></tr>
<tr class="separator:a05a79614b17cc700acaeb86039c2e181"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05c121f708922185d7b0823251c28290"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a05c121f708922185d7b0823251c28290">_focal_length2</a></td></tr>
<tr class="separator:a05c121f708922185d7b0823251c28290"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0bf270a1f6d9f45e5b1ee683d4877e1d"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#a0bf270a1f6d9f45e5b1ee683d4877e1d">_principle_point1</a></td></tr>
<tr class="separator:a0bf270a1f6d9f45e5b1ee683d4877e1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae09e8dc5707e524901e49af4d022edb"><td class="memItemLeft" align="right" valign="top">Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html#aae09e8dc5707e524901e49af4d022edb">_principle_point2</a></td></tr>
<tr class="separator:aae09e8dc5707e524901e49af4d022edb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classg2o_1_1_base_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classg2o_1_1_base_vertex')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classg2o_1_1_base_vertex.html">g2o::BaseVertex&lt; 7, Sim3 &gt;</a></td></tr>
<tr class="memitem:ae6632291d46b458196bdb021a6c8cba1 inherit pub_types_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">typedef std::stack&lt; <a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a>, std::vector&lt; <a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a>, Eigen::aligned_allocator&lt; <a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">BackupStackType</a></td></tr>
<tr class="separator:ae6632291d46b458196bdb021a6c8cba1 inherit pub_types_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaffb179a0d591da4769ec7c3fc7f7daa inherit pub_types_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structg2o_1_1_sim3.html">Sim3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a></td></tr>
<tr class="separator:aaffb179a0d591da4769ec7c3fc7f7daa inherit pub_types_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a887928bc60710e0ec9acb269ee7411db inherit pub_types_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">typedef Eigen::Map&lt; Matrix&lt; double, D, D &gt;, Matrix&lt; double, D, D &gt;::Flags &amp;AlignedBit ? Aligned :Unaligned &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">HessianBlockType</a></td></tr>
<tr class="separator:a887928bc60710e0ec9acb269ee7411db inherit pub_types_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_static_attribs_classg2o_1_1_base_vertex"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classg2o_1_1_base_vertex')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classg2o_1_1_base_vertex.html">g2o::BaseVertex&lt; 7, Sim3 &gt;</a></td></tr>
<tr class="memitem:a9a831bfdf84cfe625d8f942bc4f1c2d1 inherit pub_static_attribs_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a9a831bfdf84cfe625d8f942bc4f1c2d1">Dimension</a></td></tr>
<tr class="memdesc:a9a831bfdf84cfe625d8f942bc4f1c2d1 inherit pub_static_attribs_classg2o_1_1_base_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">dimension of the estimate (minimal) in the manifold space  <a href="classg2o_1_1_base_vertex.html#a9a831bfdf84cfe625d8f942bc4f1c2d1">More...</a><br /></td></tr>
<tr class="separator:a9a831bfdf84cfe625d8f942bc4f1c2d1 inherit pub_static_attribs_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></td></tr>
<tr class="memitem:a35ab439967fd3a3d3e5608e3883d8487 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487">setEstimateDataImpl</a> (const double *)</td></tr>
<tr class="memdesc:a35ab439967fd3a3d3e5608e3883d8487 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">writes the estimater to an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a35ab439967fd3a3d3e5608e3883d8487">More...</a><br /></td></tr>
<tr class="separator:a35ab439967fd3a3d3e5608e3883d8487 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a088ecbdde86968f3896b2320f80ee396 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a088ecbdde86968f3896b2320f80ee396">setMinimalEstimateDataImpl</a> (const double *)</td></tr>
<tr class="memdesc:a088ecbdde86968f3896b2320f80ee396 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the initial estimate from an array of double  <a href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a088ecbdde86968f3896b2320f80ee396">More...</a><br /></td></tr>
<tr class="separator:a088ecbdde86968f3896b2320f80ee396 inherit pro_methods_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classg2o_1_1_base_vertex"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_base_vertex')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_base_vertex.html">g2o::BaseVertex&lt; 7, Sim3 &gt;</a></td></tr>
<tr class="memitem:a70c672f2997275927efa49c1f5b18ac3 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top">Matrix&lt; double, D, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a70c672f2997275927efa49c1f5b18ac3">_b</a></td></tr>
<tr class="separator:a70c672f2997275927efa49c1f5b18ac3 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a936082916993857a77c8318bc3e59d23 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">BackupStackType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#a936082916993857a77c8318bc3e59d23">_backup</a></td></tr>
<tr class="separator:a936082916993857a77c8318bc3e59d23 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab188c92c3e906c6e06507ae624c0e7ac inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">_estimate</a></td></tr>
<tr class="separator:ab188c92c3e906c6e06507ae624c0e7ac inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afaf73b0e874db76655d90bdb2f156c00 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">HessianBlockType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_base_vertex.html#afaf73b0e874db76655d90bdb2f156c00">_hessian</a></td></tr>
<tr class="separator:afaf73b0e874db76655d90bdb2f156c00 inherit pro_attribs_classg2o_1_1_base_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></td></tr>
<tr class="memitem:a6eed5b850221cd76f0af46b97860f2e8 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_cache_container.html">CacheContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a6eed5b850221cd76f0af46b97860f2e8">_cacheContainer</a></td></tr>
<tr class="separator:a6eed5b850221cd76f0af46b97860f2e8 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add1f5a0236a175784a824524244f7085 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#add1f5a0236a175784a824524244f7085">_colInHessian</a></td></tr>
<tr class="separator:add1f5a0236a175784a824524244f7085 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab053ffd8851cd3b0f61576ffd349d68e inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab053ffd8851cd3b0f61576ffd349d68e">_dimension</a></td></tr>
<tr class="separator:ab053ffd8851cd3b0f61576ffd349d68e inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af98461471e6b58664a9fc4bba9340501 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#af98461471e6b58664a9fc4bba9340501">_fixed</a></td></tr>
<tr class="separator:af98461471e6b58664a9fc4bba9340501 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e14fd3ad8e531ead03b4d83cc7362ad inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a6e14fd3ad8e531ead03b4d83cc7362ad">_graph</a></td></tr>
<tr class="separator:a6e14fd3ad8e531ead03b4d83cc7362ad inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aebf035f2c8177b5dac1bc650e0f0cf62 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#aebf035f2c8177b5dac1bc650e0f0cf62">_hessianIndex</a></td></tr>
<tr class="separator:aebf035f2c8177b5dac1bc650e0f0cf62 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e9b3906c8ff800b9a0b16b10ed9fff0 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a5e9b3906c8ff800b9a0b16b10ed9fff0">_marginalized</a></td></tr>
<tr class="separator:a5e9b3906c8ff800b9a0b16b10ed9fff0 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9b85ddb487ad4818bc53e0c00ff7bcc inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_open_m_p_mutex.html">OpenMPMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#ab9b85ddb487ad4818bc53e0c00ff7bcc">_quadraticFormMutex</a></td></tr>
<tr class="separator:ab9b85ddb487ad4818bc53e0c00ff7bcc inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71eb5fdfaf5c9a442135502e23504500 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a71eb5fdfaf5c9a442135502e23504500">_userData</a></td></tr>
<tr class="separator:a71eb5fdfaf5c9a442135502e23504500 inherit pro_attribs_classg2o_1_1_optimizable_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></td></tr>
<tr class="memitem:a8d732ebb72a545332a5bdc478b558430 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">EdgeSet</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#a8d732ebb72a545332a5bdc478b558430">_edges</a></td></tr>
<tr class="separator:a8d732ebb72a545332a5bdc478b558430 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac643fa36a6d666d64925281b11de9b92 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_hyper_graph_1_1_vertex.html#ac643fa36a6d666d64925281b11de9b92">_id</a></td></tr>
<tr class="separator:ac643fa36a6d666d64925281b11de9b92 inherit pro_attribs_classg2o_1_1_hyper_graph_1_1_vertex"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="structg2o_1_1_sim3.html">Sim3</a> Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ac1f5a851bf896518998d8186723af365"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">g2o::VertexSim3Expmap::VertexSim3Expmap </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a23848134729d617ed1b4adb0ec12d246"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::cam_map1 </td>
          <td>(</td>
          <td class="paramtype">const Vector2d &amp;&#160;</td>
          <td class="paramname"><em>v</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

</div>
</div>
<a id="aa1fea182077bd192c547d6b59c874e1e"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::cam_map2 </td>
          <td>(</td>
          <td class="paramtype">const Vector2d &amp;&#160;</td>
          <td class="paramname"><em>v</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

</div>
</div>
<a id="abef7e4d10825caa129984f69251508c2"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void g2o::VertexSim3Expmap::oplusImpl </td>
          <td>(</td>
          <td class="paramtype">const double *&#160;</td>
          <td class="paramname"><em>v</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>update the position of the node from the parameters in v. </p>
<p>Implement in your class! </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4537a46afb8d12c3f18c88ba9601c625">g2o::OptimizableGraph::Vertex</a>.</p>

</div>
</div>
<a id="a16b4ef216ad1c4709a6fc6aa452d8e61"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool g2o::VertexSim3Expmap::read </td>
          <td>(</td>
          <td class="paramtype">std::istream &amp;&#160;</td>
          <td class="paramname"><em>is</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>read the vertex from a stream, i.e., the internal state of the vertex </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a356c40d33c3f1e07afa938dfb4870230">g2o::OptimizableGraph::Vertex</a>.</p>

</div>
</div>
<a id="ab076d5964ab55f95251a75bcf341ce05"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void g2o::VertexSim3Expmap::setToOriginImpl </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>sets the node to the origin (used in the multilevel stuff) </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#abd5fe36815f27a9c174ad41c2070c247">g2o::OptimizableGraph::Vertex</a>.</p>

</div>
</div>
<a id="ab5725f98a0d40f4cdb5d352a45c79fc7"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool g2o::VertexSim3Expmap::write </td>
          <td>(</td>
          <td class="paramtype">std::ostream &amp;&#160;</td>
          <td class="paramname"><em>os</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>write the vertex to a stream </p>

<p>Implements <a class="el" href="classg2o_1_1_optimizable_graph_1_1_vertex.html#a4cac277db656fddb5f844d9009d601eb">g2o::OptimizableGraph::Vertex</a>.</p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a63854235b605e45825798d327890930e"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool g2o::VertexSim3Expmap::_fix_scale</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="a05a79614b17cc700acaeb86039c2e181"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::_focal_length1</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="a05c121f708922185d7b0823251c28290"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::_focal_length2</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="a0bf270a1f6d9f45e5b1ee683d4877e1d"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::_principle_point1</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="aae09e8dc5707e524901e49af4d022edb"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">Vector2d g2o::VertexSim3Expmap::_principle_point2</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/types/<a class="el" href="types__seven__dof__expmap_8h_source.html">types_seven_dof_expmap.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/types/<a class="el" href="types__seven__dof__expmap_8cpp.html">types_seven_dof_expmap.cpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="namespaceg2o.html">g2o</a></li><li class="navelem"><a class="el" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.12 </li>
  </ul>
</div>
</body>
</html>
